/********************************************************************************
 * Copyright 2015 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "BtPositionDevice.hpp"

#include "BtUtil.hpp"

#include <rwsim/dynamics/KinematicDevice.hpp>

#include <BulletDynamics/Dynamics/btRigidBody.h>

using namespace rw::kinematics;
using namespace rw::math;
using namespace rwsim::dynamics;
using namespace rwsimlibs::bullet;

BtPositionDevice::BtPositionDevice (rw::core::Ptr< KinematicDevice > dev,
                                    const std::vector< FrameBodyPair >& frameToBtBody) :
    _kdev (dev),
    _frameToBtBody (frameToBtBody)
{}

BtPositionDevice::~BtPositionDevice ()
{}

void BtPositionDevice::update (double dt, State& state)
{
    _kdev->getModel ().setQ (_kdev->getQ (state), state);
    // for each joint update the position of the corresponding btRigidBody

    for (const FrameBodyPair& pair : _frameToBtBody) {
        const Transform3D<> t3d = Kinematics::worldTframe (pair.first, state);
        pair.second->getMotionState ()->setWorldTransform (BtUtil::makeBtTransform (t3d));
    }
}

void BtPositionDevice::postUpdate (State& state)
{}
